CN115140548B - Full-automatic all-in-one machine integrating blanking, stacking tray and CCD detection - Google Patents

Full-automatic all-in-one machine integrating blanking, stacking tray and CCD detection Download PDF

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Publication number
CN115140548B
CN115140548B CN202211076428.5A CN202211076428A CN115140548B CN 115140548 B CN115140548 B CN 115140548B CN 202211076428 A CN202211076428 A CN 202211076428A CN 115140548 B CN115140548 B CN 115140548B
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Prior art keywords
tray
transfer
transferring
driving
cylinder
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CN115140548A (en
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张欧
杨树忠
彭斌
姜粟东
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Oechsler Plastic Products Taicang Co Ltd
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Oechsler Plastic Products Taicang Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/38Collecting or arranging articles in groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01Arrangements or apparatus for facilitating the optical investigation
    • G01N21/13Moving of cuvettes or solid samples to or from the investigating station
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A full-automatic integrated machine for collecting, discharging, stacking and CCD (charge coupled device) detection comprises a machine table, a feeding mechanism, a transferring mechanism, a camera detection mechanism, a transferring and waiting mechanism, an unqualified product collecting groove, at least one empty tray feeding mechanism, at least one full tray stacking mechanism, a part transferring mechanism, a tray transferring mechanism and a transferring and driving mechanism, wherein the camera detection mechanism is used for shooting and detecting parts; the transfer waiting mechanism is used for grabbing and placing the parts which are detected by the camera detection mechanism; the part transferring mechanism transfers the parts to an unqualified product collecting groove or a material tray of the empty material tray feeding mechanism; the material tray transfer mechanism is used for transferring the material trays full of parts in the empty material tray feeding mechanism to the position of the full material tray stacking mechanism. According to the full-automatic all-in-one machine, through the arranged feeding and discharging coded disc structure, continuous and automatic production is realized in the assembly process of parts, the labor intensity of workers is effectively reduced, and the quality of part detection is improved.

Description

Full-automatic all-in-one machine integrating blanking, stacking tray and CCD detection
Technical Field
The invention belongs to the technical field of advanced production, manufacturing and automation, and particularly relates to a full-automatic all-in-one machine integrating blanking, tray stacking and CCD detection.
Background
In an automated production process, in order to ensure the quality of products in mass production, the appearance of parts with strict requirements on the appearance quality must be detected. When the parts are conveyed to the downstream of assembly, the parts are all arranged in the material tray in order after detection. At present, CCD detection of parts is required between the incoming material and the downstream assembly aiming at the assembly of the parts. In the CCD detection process, the existing market is divided into a camera detection device and an automatic packaging device, and the camera detection device and the automatic packaging device are independent structures respectively. For example, application No.: 202110018246.1 CCD module detection device and CCD module detection method, and the application number is: 201410363037.0 is a turntable mechanism of a multi-station CCD detector, which only has an independent CCD detection function, but the CCD detection and judgment of whether a product is qualified or not depends on a large amount of manual work.
After the parts are detected, the parts are generally manually taken out, qualified parts are orderly arranged in a material tray according to a detection result so as to be assembled by an automatic assembling machine, and unqualified parts are placed in an unqualified product collecting area. In addition, in the above process, the material tray needs to be transferred and carried manually.
Disclosure of Invention
The invention aims to: the invention aims to provide a full-automatic integrated machine integrating blanking, tray stacking and CCD detection, aiming at solving the problems of low efficiency of manual assembly of parts and misjudgment rate of manual detection.
The technical scheme is as follows: the invention provides a full-automatic integrated machine for collecting, discharging, stacking and CCD (charge coupled device) detection, which comprises a machine table, a feeding mechanism, a transferring mechanism, a camera detection mechanism, a transferring and waiting mechanism, an unqualified product collecting groove, at least one empty tray feeding mechanism, at least one full tray stacking mechanism, a part transferring mechanism, a tray transferring mechanism and a transferring and driving mechanism, wherein the machine table is used for collecting, discharging, stacking and CCD detection;
the feeding mechanism is used for feeding the part to be detected;
the transfer mechanism is used for transferring the part to be detected on the feeding mechanism to the camera detection mechanism;
the camera detection mechanism is used for carrying out photographing detection on the part to be detected;
the transfer waiting mechanism is used for grabbing and placing the parts which are detected by the camera detection mechanism;
the part transferring mechanism transfers the parts which are detected in the transferring and waiting mechanism into the unqualified product collecting groove or the material tray of the empty material tray feeding mechanism;
the empty tray feeding mechanism is provided with a stack of empty trays, and the full tray stacking mechanism is provided with a stack of full-part trays;
the material tray transferring mechanism is used for transferring the material trays with full parts in the empty material tray feeding mechanism to the full material tray stacking mechanism;
the shifting driving mechanism provides driving force for the part shifting mechanism and the material tray shifting mechanism.
According to the full-automatic integrated machine integrating the feeding and discharging, the stacking disc and the CCD detection, through the arranged feeding and discharging coded disc structure, continuous and automatic production is realized in the assembly process of parts, the labor intensity of workers is effectively reduced, and the quality of part detection is improved.
Further, the full-automatic integrated machine for collecting, discharging, stacking and CCD detection comprises a feeding linear module, a feeding horizontal sliding plate, a combined driving cylinder, a slider supporting frame, a driving slider, a fixture fixing seat and a group of driven sliders, wherein the feeding horizontal sliding plate is connected with the sliders of the feeding linear module, the combined driving cylinder is fixedly arranged on the feeding horizontal sliding plate and is connected with a piston rod of the combined driving cylinder and a driving slider, the slider supporting frame is erected on the feeding horizontal sliding plate, the driving slider, the fixture fixing seat and the group of driven sliders are arranged in a row, part profiling fixtures are arranged on the driving slider, the group of driven sliders are located between the driving slider and the fixture fixing seat and are fixedly connected with the slider supporting frame, the group of driven sliders and the driving slider are slidably connected with the slider supporting frame, return springs are arranged between the slider supporting frame and the driven sliders, between the group of driven sliders and between the fixture fixing seat, and the moving direction of the feeding linear module and the telescopic direction of the piston rod of the combined driving cylinder are arranged in the same direction. Above-mentioned feed mechanism is earlier with waiting to detect the part put into the profile modeling anchor clamps above, once can put four parts, the part that waits to detect on the feed mechanism puts the completion back, drives actuating cylinder by the combination and drives initiative slider, anchor clamps fixing base and a set of driven slider removal and merge profile modeling anchor clamps 4, removes servo mechanism displacement part and ensures that transport mechanism can get four parts that wait to detect.
Further, foretell full-automatic all-in-one that collection unloading, pile disc and CCD detected, transport mechanism controls rodless cylinder, controls horizontal migration slide, back-and-forth movement rodless cylinder, front and back horizontal migration slide, transports vertical drive actuating cylinder, sucking disc mounting panel and a set of location sucking disc including transporting the support frame, controlling the fixed setting on transporting the support frame of rodless cylinder, control the one end of horizontal migration slide and control rodless cylinder and connect, the rodless cylinder setting is on controlling the horizontal migration slide around, front and back horizontal migration slide and the rodless cylinder of back-and-forth movement are connected, transport vertical drive actuating cylinder and front and back horizontal migration slide and connect, the sucking disc mounting panel with transport the vertical piston rod connection that drives actuating cylinder, a set of location sucking disc sets up on the sucking disc mounting panel, the direction of movement that controls rodless cylinder and the direction of movement of back-and-forth movement rodless cylinder is perpendicular to be set up. A set of location sucking disc adsorbs the part, moves rodless cylinder about and moves back and forth rodless cylinder with a set of location sucking disc in coordination and moves to the top of profile modeling anchor clamps, transports and vertically drives actuating cylinder and descends and adsorbs the part that waits to detect above the profile modeling anchor clamps.
Furthermore, the full-automatic integrated machine for collecting, discharging, stacking and CCD detection comprises a rotating disc, an upper lens, a first side lens, a second side lens, a light source, a light shield and a detection frame, wherein the rotating disc and the detection frame are arranged on a machine table, the light shield is arranged outside the detection frame, the rotating disc is divided into a part feeding position, a part dust removal position, a part detection position and a part discharging position in the process of rotating 360 degrees, four part profiling fixtures are arranged on the rotating disc, the four part profiling fixtures are arranged in an annular array mode by taking the center of the rotating disc as the center of a circle, one end of the rotating disc is arranged in the range covered by the light shield, the upper lens, the first side lens, the second side lens and the light source are arranged on the detection frame, the upper lens, the first side lens and the second side lens are arranged at three corner parts of a triangle, and the upper lens, the first side lens and the second side lens face towards the part profiling fixtures in the light shield. And opening the light source, adjusting the upper lens, the side lens I and the side lens II, and adjusting the light source and the lens according to the detection requirement of the part to be detected, so that the part can completely present the required surface after being photographed by the CCD.
Furthermore, the full-automatic integrated machine for collecting, discharging, stacking and CCD detection comprises a first material transferring and waiting mechanism, two first symmetrically arranged waiting support seats, two symmetrically arranged part positioning air cylinders, two symmetrically arranged part positioning clamping plates, a second waiting support seat, a lifting driving air cylinder for waiting materials, a rotating air cylinder for waiting materials, a turnover plate for waiting materials and a sucking disc for waiting materials, wherein the first symmetrically arranged waiting support seats, the two symmetrically arranged part positioning air cylinders and the two symmetrically arranged part positioning clamping plates are arranged in a one-to-one correspondence manner, the part location cylinder is fixed to be set up on waiting to expect supporting seat one, part location splint and part location cylinder are connected, be equipped with the part that detects the completion between the part location splint that two symmetries set up, waiting to expect to go up and down to drive actuating cylinder setting on waiting to expect supporting seat two to waiting to expect to go up and down to drive actuating cylinder's piston rod and waiting to expect revolving cylinder and connect, wait to expect that the one end and the waiting to expect revolving cylinder of returning face plate are connected, wait to expect to get the material sucking disc setting and keeping away from waiting to expect on the tip of expecting the revolving cylinder at waiting to expect the returning face plate, wait to expect that the returning face plate is located between the part location splint that two symmetries set up. This mechanism can realize taking off the part that will detect the completion from the detection station to be in a fixed position with the part, make things convenient for follow-up putting into unqualified collecting region with the part or putting qualified part in empty charging tray according to the testing result.
Further, foretell full-automatic all-in-one that collection unloading, pile up neatly dish and CCD detected, empty charging tray feed mechanism is the same with full charging tray stacking mechanism's structure to empty charging tray feed mechanism and full charging tray stacking mechanism all include charging tray lift drive subassembly, charging tray and tray support frame, charging tray lift drive subassembly sets up on the board, tray support frame and charging tray lift drive subassembly are connected, charging tray and tray support frame fixed connection, be equipped with a pile of empty charging tray and a pile of full charging tray of part on the charging tray. The height of charging tray is adjusted from top to bottom to the empty charging tray feeding mechanism and full charging tray stacking mechanism of this structure can be according to the in service behavior of charging tray for the charging tray is in all the time and gets the material and the position that the charging tray appointed.
Further, foretell full-automatic all-in-one that collection unloading, pile up neatly dish and CCD detected, charging tray lift drive subassembly includes lift driving motor, fixed mounting support body, lift drive action wheel, lift drive from driving wheel, lift drive chain and lift drive lead screw, fixed mounting support body and board fixed connection, lift driving motor and lift drive lead screw all set up on the fixed mounting support body, lift driving motor and lift drive action wheel are connected, the lift drive action wheel passes through lift drive chain and lift drive and connects from the driving wheel, lift drive is connected from the driving wheel and the one end of lift drive lead screw, tray support frame and lift drive lead screw nut fixed connection of lead screw.
Further, the full-automatic integrated machine for collecting, discharging, stacking and CCD detecting is characterized in that the transfer driving mechanism comprises a transfer driving belt, a transfer driving motor, a transfer driving wheel, two symmetrically arranged transfer driven wheels, a transfer sliding plate, two symmetrically arranged transfer linear guide rails I, a transfer cross beam and a transfer linear guide rail II, wherein the two parallel arranged transfer linear guide rails I are arranged on the machine platform, the transfer sliding plate is slidably connected with the two parallel arranged transfer linear guide rails I, the transfer driving motor, the transfer driving wheel and the two symmetrically arranged transfer driven wheels are all arranged on the transfer sliding plate, the transfer driving motor is connected with the transfer driving wheel, the transfer driving belt is wound around the transfer driving wheel and the two symmetrically arranged transfer driven wheels, one end of the transfer cross beam is connected with the transfer sliding plate, the other end of the transfer cross beam is slidably connected with the transfer linear guide rails II, the part transferring mechanism and the tray transferring mechanism are both arranged on the cross beam, the part transferring mechanism and the tray transferring mechanism are arranged on both sides of the moving direction of the cross beam, the two symmetrically arranged transfer driven wheels are respectively arranged on both sides of the transfer driving wheel, and the transfer driving wheel and the two symmetrically arranged transfer linear guide rails omega-shaped transfer driving wheels are arranged between the transfer driving belt. Under the condition that the transfer driving motor drives the transfer driving wheel to rotate, the relative position between the transfer driving wheel and the transfer driving belt is changed, so that the transfer sliding plate slides along two parallel transfer linear guide rails.
Furthermore, the full-automatic integrated machine for collecting, discharging, stacking and CCD detecting comprises a part transferring horizontal linear module, a part transferring horizontal sliding plate, a part transferring vertical linear module, a part transferring rotary motor, a part transferring vertical sliding plate and a part transferring clamping jaw cylinder, wherein the part transferring horizontal linear module is arranged on a transferring cross beam and is connected with the part transferring horizontal linear module, the part transferring horizontal sliding plate is connected with the part transferring horizontal linear module and is connected with the transferring cross beam in a sliding manner, the part transferring vertical linear module is arranged on the part transferring horizontal sliding plate and is connected with the part transferring vertical linear module, the part transferring rotary motor is arranged on the part transferring vertical sliding plate and is connected with the part transferring clamping jaw cylinder, and the part transferring clamping jaw cylinder can clamp the part. The structure is reasonable in arrangement, and the parts can be flexibly taken and placed through the combination of the linear modules.
Furthermore, the full-automatic integrated machine for collecting and discharging, stacking and CCD detection is characterized in that the charging tray transfer mechanism comprises a charging tray transfer support frame, a charging tray transfer lifting driving cylinder, a charging tray transfer connecting frame, two symmetrically arranged charging tray transfer clamping jaw cylinders and a group of charging tray transfer positioning blocks, the charging tray transfer support frame is fixedly connected with a transfer cross beam, the charging tray transfer lifting driving cylinder is arranged on the charging tray transfer support frame, a piston rod of the charging tray transfer lifting driving cylinder is connected with the charging tray transfer connecting frame, the two symmetrically arranged charging tray transfer clamping jaw cylinders and the group of charging tray transfer positioning blocks are arranged on the charging tray transfer connecting frame, and the two symmetrically arranged charging tray transfer clamping jaw cylinders can clamp the charging tray. The two ends of the material tray are clamped by the material tray transfer clamping jaw cylinders which are symmetrically arranged, and the material tray can be stably transported.
The technical scheme shows that the invention has the following beneficial effects: the full-automatic integrated machine integrating the feeding, the stacking and the CCD detection is reasonable in structural design, the feeding, the CCD detection and the discharging of batch parts are coded by the reasonable structural layout, the production rhythm is smooth, the product detection quality of the parts can be effectively guaranteed, the integrated machine can be integrated with an automatic assembly production line, and the continuous automatic production is realized, so that the production automation level of an enterprise is further improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a full-automatic integrated machine for collecting and discharging materials, stacking trays and CCD detection, provided by the invention;
FIG. 2 is a top view of the fully automatic all-in-one machine for collecting, discharging, stacking and CCD detection according to the present invention;
FIG. 3 is a first schematic structural diagram of a CCD detecting unit according to the present invention;
FIG. 4 is a schematic structural diagram of a CCD detecting unit according to the present invention;
FIG. 5 is a schematic view of a camera inspection mechanism according to the present invention;
FIG. 6 is a schematic structural diagram of the feeding mechanism according to the present invention;
FIG. 7 is a schematic structural view of a transfer mechanism according to the present invention;
FIG. 8 is a schematic structural diagram of a transfer waiting mechanism according to the present invention;
FIG. 9 is a schematic view of the overall structure of the code wheel unit of the parts package according to the present invention;
FIG. 10 is a schematic structural diagram of a code wheel unit of the parts package according to the present invention;
fig. 11 is a schematic structural diagram of the empty tray feeding mechanism or the full tray stacking mechanism according to the invention;
FIG. 12 is a schematic structural view of the tray lifting/lowering driving assembly according to the present invention;
FIG. 13 is a schematic view of a partial structure of an automatic code disc blanking device of the parts of the invention;
fig. 14 is a schematic structural view of a part transfer mechanism according to the present invention;
fig. 15 is a schematic structural view of the tray transfer mechanism according to the present invention.
In the figure: the device comprises a feeding mechanism 201, a transfer mechanism 202, a camera detection mechanism 203, a transfer material waiting mechanism 204, an electrostatic dust collector 205, a defective product collecting groove 206, a feeding linear module 207, a feeding horizontal sliding plate 208, a combined driving cylinder 209, a sliding block supporting frame 210, a driving sliding block 211, a clamp fixing seat 212, a driven sliding block 213, a part profiling clamp 214, a reset spring 215, a feeding linear guide rail 216, a transfer supporting frame 217, a left-right rodless cylinder 218, a left-right horizontal moving sliding plate 219, a front-back rodless cylinder 220, a front-back horizontal moving sliding plate 221, a transfer vertical driving cylinder 222, a suction cup mounting plate 223, a positioning suction cup 224, a transfer linear guide rail I225, a transfer linear guide rail II 226, a rotating disc 227, an upper lens 228, a side lens I229, a side lens II 230, a light source 231, a light shield 232, a detection frame 233, an inlet 234, an outlet 235, a material waiting supporting seat I236, a a part positioning cylinder 237, a part positioning clamp plate 238, a waiting support seat II 239, a waiting lifting driving cylinder 240, a waiting rotating cylinder 241, a waiting turnover plate 242, a waiting taking sucker 243, a dust remover lifting driving cylinder 244, an empty tray feeding mechanism 301, a full tray stacking mechanism 302, a part transferring mechanism 303, a tray transferring mechanism 304, a transferring driving mechanism 305, a tray lifting driving component 306, a tray 307, a tray support frame 308, a lifting driving motor 309, a fixed installation frame 310, a lifting driving wheel 311, a lifting driving driven wheel 312, a lifting driving screw rod 313, a vertical guide rail 314, a flange 315, a transferring driving belt 316, a transferring driving motor 317, a transferring driving wheel 318, a transferring driven wheel 319, a transferring slide plate 320, a transferring linear guide rail I321, a transferring cross beam 322, a transferring linear guide rail II 323, a part transferring horizontal linear module 324, a part transferring mechanism, the parts move and carry horizontal slide 325, the parts move and carry vertical linear module 326, the parts move and carry the rotating electrical machines 327, the parts move and carry vertical slide 328, the parts move and carry the cylinder 329 of the clamping jaw, the charging tray moves and carries the support frame 330, the charging tray moves and goes up and down to drive the cylinder 331, the charging tray moves and carries the link 332, the charging tray moves and carries the clamping jaw cylinder 333, the charging tray moves and carries the locating piece 334.
Detailed Description
Examples
The full-automatic all-in-one machine for collecting, discharging, stacking and CCD detection as shown in fig. 1 and 2 is divided into two working units, namely a CCD detection unit and a part packaging and encoding disk unit, and integrally comprises a machine table 100, a feeding mechanism 201, a transferring mechanism 202, a camera detection mechanism 203, a transfer waiting mechanism 204, a defective material collecting tank 206, at least one empty tray feeding mechanism 301, at least one full tray stacking mechanism 302, a part transferring mechanism 303, a tray transferring mechanism 304 and a transferring driving mechanism 305, wherein the feeding mechanism 201, the transferring mechanism 202, the camera detection mechanism 203, the transfer waiting mechanism 204, the defective material collecting tank 206, the at least one empty tray feeding mechanism 301, the at least one full tray stacking mechanism 302, the part transferring mechanism 303, the tray transferring mechanism 304 and the transferring driving mechanism 305 are all arranged on the machine table 100.
Wherein; the CCD detection unit shown in fig. 3 and 4 includes a feeding mechanism 201, a transferring mechanism 202, a camera detection mechanism 203 and a transferring material waiting mechanism 204, wherein the feeding mechanism 201, the transferring mechanism 202, the camera detection mechanism 203 and the transferring material waiting mechanism 204 are all arranged on a machine, a group of parts to be detected are arranged on the feeding mechanism 201, the transferring mechanism 202 is erected above the feeding mechanism 201, the camera detection mechanism 203 is located on one side of the transferring mechanism 202, a part which is detected and completed is arranged on the transferring material waiting mechanism 204, and the part to be detected on the feeding mechanism 201 can be moved to the camera detection mechanism 203 through the transferring mechanism 202. The CCD automatic detection equipment further comprises an electrostatic dust collector 205, the electrostatic dust collector 205 can perform electrostatic dust collection on a part to be detected on the camera detection mechanism 203, a dust collector lifting driving cylinder 244 is arranged on the machine table, and the electrostatic dust collector 205 is connected with the dust collector lifting driving cylinder 244. The automatic CCD detection equipment further comprises a unqualified product collecting groove 206. A group of parts to be detected are placed on the feeding mechanism 201 manually or through a manipulator, the parts of the feeding mechanism 201 are conveyed to the camera detection mechanism 203 one by one through the transfer mechanism 202, the parts pass through the position of the electrostatic dust collector 205 first, the electrostatic dust collector 205 is lowered through the dust collector lifting driving cylinder 244, the parts to be detected at the feeding position of the camera detection mechanism 203 are covered by the electrostatic dust collector 205, the electrostatic dust collection is finished, the parts enter the camera detection mechanism 203 to be detected by a CCD (charge coupled device) camera, then the qualified parts after detection enter the next station through the transfer feeding mechanism 204, the unqualified parts after detection are clamped above the unqualified product collecting groove 206 through the manipulator, the unqualified product collecting groove 206 is obliquely arranged, and the unqualified parts after detection are directly discharged into an unqualified product collecting box.
The parts packaging code disc unit shown in fig. 9 and 10 includes at least one empty tray feeding mechanism 301, at least one full tray stacking mechanism 302, a parts transferring mechanism 303, a tray transferring mechanism 304 and a transferring driving mechanism 305, where the at least one empty tray feeding mechanism 301, the at least one full tray stacking mechanism 302 and the transferring driving mechanism 305 are all disposed on a machine platform, the parts transferring mechanism 303 and the tray transferring mechanism 304 are both disposed on the transferring driving mechanism 305, a stack of empty trays is disposed on the empty tray feeding mechanism 301, a stack of full trays is disposed on the full tray stacking mechanism 302, the at least one empty tray feeding mechanism 301 and the at least one full tray stacking mechanism 302 are on the same straight line, and the moving direction of the transferring driving mechanism 305 and the straight line direction of the empty tray feeding mechanism 301 and the full tray stacking mechanism 302 are all along the same direction. A row of empty tray feeding mechanisms 301 and full tray stacking mechanisms 302 are arranged on a machine platform, the number of the empty tray feeding mechanisms 301 and the number of the full tray stacking mechanisms 302 can be flexibly set according to requirements, a stack of empty trays are placed on the empty tray feeding mechanisms 301, a stack of full trays are placed on the full tray stacking mechanisms 302, parts which are detected in the above way are taken down from a detection station through the part transferring mechanism 303 and placed into the uppermost tray on the stack of empty trays, the parts are placed in the uppermost tray one by one until the parts in the uppermost tray are fully placed, the transferring driving mechanism 305 drives the tray transferring mechanism 304 to move to the position above the stack of empty trays, the tray transferring mechanism 304 clamps the full trays, the transferring driving mechanism 305 drives the tray mechanism 304 to move to the position above the full tray stacking mechanisms 302, the full trays with the full trays placed thereon are placed on the full tray stacking mechanisms 302, the empty tray feeding mechanisms 301 push the stack of empty trays to move upwards to the height of one tray, the full trays 302 drop of the full trays, and the full tray stacking mechanisms 302 take the stack of the full trays as the number of the stacked trays.
In the above structure, the feeding mechanism 201 is used for feeding the part to be detected;
the transfer mechanism 202 is used for transferring the part to be detected on the feeding mechanism 201 to the camera detection mechanism 203;
the camera detection mechanism 203 performs photographing detection on the part to be detected;
the transfer waiting mechanism 204 is used for grabbing and placing the parts detected by the camera detection mechanism 203;
the part transferring mechanism 303 transfers the parts detected in the transferring and waiting mechanism 204 to the unqualified product collecting groove 206 or the material tray of the empty material tray feeding mechanism 301;
the empty tray feeding mechanism 301 is provided with a stack of empty trays, and the full tray stacking mechanism 302 is provided with a stack of full-part trays;
the tray transferring mechanism 304 is used for transferring the trays with full parts in the empty tray feeding mechanism 301 to the full tray stacking mechanism 302;
the transfer drive mechanism 305 supplies drive force to the component transfer mechanism 303 and the tray transfer mechanism 304.
As shown in fig. 6, the feeding mechanism 201 includes a feeding linear module 207, a feeding horizontal sliding plate 208, a combined driving cylinder 209, a slider supporting frame 210, a driving slider 211, a clamp fixing seat 212, and a set of driven sliders 213, the feeding horizontal sliding plate 208 is connected with the sliders of the feeding linear module 207, the combined driving cylinder 209 is fixedly disposed on the feeding horizontal sliding plate 208, and the piston rods of the combined driving cylinder 209 are connected with the driving slider 211, the slider supporting frame 210 is erected on the feeding horizontal sliding plate 208, the driving slider 211, the clamp fixing seat 212, and the set of driven sliders 213 are disposed in a row, and part copying clamps 214 are disposed on the driving slider 211, the clamp fixing seat 212, and the set of driven sliders 213 are disposed between the driving slider 211 and the clamp fixing seat 212, the clamp fixing seat 212 is fixedly connected with the slider supporting frame 210, the set of driven sliders 213 and the driving slider 211 are slidably connected with the slider supporting frame 210, return springs 215 are disposed between the slider supporting frame 210 and the driven sliders 213, the set of driven sliders 213, and the set of piston rods 213 are disposed in the same extension direction as the extension direction of the feeding linear module 207 and the set direction of the piston rods 209. Two parallel feeding linear guide rails 216 are arranged on the sliding block supporting frame 210, and the group of driven sliding blocks 213 and the group of driving sliding blocks 211 are in sliding connection with the two parallel feeding linear guide rails 216.
Because put a row of part of waiting to detect on feed mechanism 201, the stroke distance of transport mechanism 202 is limited, consequently drives actuating cylinder 209 through setting up material loading sharp module 207 and merging and can merge the part of waiting to detect and get near transport mechanism 202 one side, makes things convenient for transport mechanism 202 to get the material.
The working principle of the feeding mechanism 201 is as follows:
initially, the piston rod that merges drive actuating cylinder 209 is in stretching out the state, anchor clamps fixing base 212 is located and is close to transport mechanism 202 one side, at initiative slider 211, place the part that waits to detect on part profile modeling anchor clamps 214 on anchor clamps fixing base 212 and a set of driven slider 213, the piston rod that merges drive actuating cylinder 209 withdraws, drive initiative slider 211 and move to anchor clamps fixing base 212 direction, thereby make a set of driven slider 213 also merge anchor clamps fixing base 212 position department, transport mechanism 202 at first gets the product that waits to detect on anchor clamps fixing base 212, then the straight line module 207 of material loading removes to transport mechanism 202 direction gradually, make initiative slider 211, the part that waits on anchor clamps fixing base 212 and a set of driven slider 213 be in transport mechanism 202's stroke range all the time.
The transfer mechanism 202 shown in fig. 7 includes a transfer support frame 217, a left-right moving rodless cylinder 218, a left-right horizontally moving sliding plate 219, a front-back moving rodless cylinder 220, a front-back horizontally moving sliding plate 221, a transfer vertically driving cylinder 222, a suction cup mounting plate 223 and a set of positioning suction cups 224, wherein the left-right moving rodless cylinder 218 is fixedly arranged on the transfer support frame 217, one end of the left-right horizontally moving sliding plate 219 is connected with the left-right moving rodless cylinder 218, the front-back moving rodless cylinder 220 is arranged on the left-right horizontally moving sliding plate 219, the front-back horizontally moving sliding plate 221 is connected with the front-back moving rodless cylinder 220, the transfer vertically driving cylinder 222 is connected with the front-back horizontally moving sliding plate 221, the suction cup mounting plate 223 is connected with a piston rod of the transfer vertically driving cylinder 222, the set of positioning suction cups 224 is arranged on the suction cup mounting plate 223, and the moving direction of the left-right moving rodless cylinder 218 is perpendicular to the moving direction of the front-back moving rodless cylinder 220. It transports linear guide 225 to be equipped with on the support frame 217 to transport, control horizontal migration slide 219 and transport linear guide 225 sliding connection, control horizontal migration slide 219 and be equipped with on the horizontal migration slide 219 and transport two 226 of linear guide, horizontal migration slide 221 and transport two 226 sliding connection of linear guide around. The two-way moving structure is formed by the left-right moving rodless cylinder 218 and the front-back moving rodless cylinder 220, so that the movement can be realized within a certain section range, and the camera detection mechanism 203 can be conveniently taken from the feeding mechanism 201.
The camera detection mechanism 203 shown in fig. 5 includes a rotating disc 227, an upper lens 228, a first side lens 229, a second side lens 230, a light source 231, a light shield 232 and a detection frame 233, the rotating disc 227 and the detection frame 233 are all arranged on a machine table, the light shield 232 is covered outside the detection frame 233, the rotating disc 227 is divided into a part loading position, a part dust removal position, a part detection position and a part unloading position in the process of rotating 360 degrees, four part copying clamps 214 are arranged on the rotating disc 227, the four part copying clamps 214 are arranged in an annular array mode by taking the center of the rotating disc 227 as the center, one end of the rotating disc 227 is arranged in the covered range of the light shield 232, the upper lens 228, the first side lens 229, the second side lens 230 and the light source 231 are all arranged on the detection frame 233, the upper lens 228, the first side lens 229 and the second side lens 230 are located at three corner positions of a triangle, and the upper lens 228, the first side lens 229 and the second side lens 230 face the part copying clamps 214 in the light shield 232. The light shield 232 is provided with an inlet 234 and an outlet 235.
One end of the rotating disc 227 close to the transfer mechanism 202 is a part feeding position, and with the rotation of the rotating disc 227, the part to be detected sequentially undergoes electrostatic dust collection and then enters the light shield 232 through the inlet 234, the upper lens 228, the first side lens 229 and the second side lens 230 are photographed and detected, and then the part is discharged from the outlet 235 and rotated to a part discharging position, the transferring material waiting mechanism 204 is located at the part discharging position, and the transferring material waiting mechanism 204 takes the detected product off the rotating disc 227.
The transfer waiting mechanism 204 shown in fig. 8 includes two symmetrically arranged waiting support seats 236, two symmetrically arranged part positioning cylinders 237, two symmetrically arranged part positioning clamp plates 238, two waiting support seats 239, a waiting lifting driving cylinder 240, a waiting rotating cylinder 241, a waiting turning plate 242, and a waiting material taking suction cup 243, wherein the two symmetrically arranged waiting support seats 236, the two symmetrically arranged part positioning cylinders 237, and the two symmetrically arranged part positioning clamp plates 238 are arranged in one-to-one correspondence, the part positioning cylinder 237 is fixedly arranged on the waiting support seat 236, the part positioning clamp plate 238 is connected with the part positioning cylinder 237, a detected part is arranged between the two symmetrically arranged part positioning clamp plates 238, the waiting lifting driving cylinder 240 is arranged on the two waiting support seats 239, a piston rod of the waiting lifting driving cylinder 240 is connected with the waiting rotating cylinder 243, one end of the waiting turning plate 242 is connected with the waiting rotating cylinder 241, the waiting material taking suction cup 242 is arranged at an end of the waiting turning plate 242 far away from the waiting rotating cylinder 241, and the waiting plate 242 is located between the two symmetrically arranged part positioning clamp plates 242.
The material waiting rotary cylinder 241 drives the material waiting turnover plate 242 to turn over, so that the other end of the material waiting turnover plate 242 turns over to the upper side of the part profiling fixture 214 of the rotary disc 227, the material waiting taking sucker 243 adsorbs a detected part, the material waiting rotary cylinder 241 drives the material waiting turnover plate 242 to turn over between two symmetrically arranged part positioning clamping plates 238, the material waiting lifting driving cylinder 240 descends, so that the detected part and the two symmetrically arranged part positioning clamping plates 238 are positioned on the same horizontal plane, piston rods of the two symmetrically arranged part positioning cylinders 237 extend out, the two symmetrically arranged part positioning clamping plates 238 are pushed to clamp the detected part (the part is a qualified part), the detection equipment is matched with other equipment for use, and for the unqualified part, the unqualified part is taken down through a manipulator on other equipment and is put into the unqualified product collecting groove 206.
As shown in fig. 11, the empty tray feeding mechanism 301 and the full tray stacking mechanism 302 have the same structure, and both the empty tray feeding mechanism 301 and the full tray stacking mechanism 302 include a tray lifting driving assembly 306, a tray 307 and a tray supporting frame 308, the tray lifting driving assembly 306 is arranged on the machine platform, the tray supporting frame 308 is connected with the tray lifting driving assembly 306, the tray 307 is fixedly connected with the tray supporting frame 308, and a stack of empty trays and a stack of full trays are arranged on the tray 307. The material tray is placed on the material tray 307, and the material tray lifting driving component 306 drives the material tray 307 to lift, so that the empty material trays are continuously supplied, and meanwhile, the material trays full of parts are stacked.
As shown in fig. 12, the tray lifting drive assembly 306 includes a lifting drive motor 309, a fixed mounting frame body 310, a lifting drive driving wheel 311, a lifting drive driven wheel 312, a lifting transmission chain and a lifting drive screw 313, the fixed mounting frame body 310 and the machine table are fixedly connected, the lifting drive motor 309 and the lifting drive screw 313 are both arranged on the fixed mounting frame body 310, the lifting drive motor 309 and the lifting drive driving wheel 311 are connected, the lifting drive driving wheel 311 is connected with the lifting drive driven wheel 312 through the lifting transmission chain, the lifting drive driven wheel 312 and one end of the lifting drive screw 313 are connected, and the tray support frame 308 and the screw nut of the lifting drive screw 313 are fixedly connected. The fixed mounting frame body 310 is provided with two parallel vertical guide rails 314, the two parallel vertical guide rails 314 are respectively located on two sides of the lifting driving screw rod 313, the two parallel vertical guide rails 314 and the lifting driving screw rod 313 are arranged along the vertical direction, and the tray supporting frame 308 is connected with the two parallel vertical guide rails 314 in a sliding mode. The tray 307 is flat, the tray 307 is arranged in a horizontal state, the edge of the periphery of the tray 307 is provided with a flange 315, and the empty stack of trays and the full stack of trays are located within the range of the flange 315.
The transfer driving mechanism 305 shown in fig. 13 includes a transfer driving belt 316, a transfer driving motor 317, a transfer driving wheel 318, two symmetrically arranged transfer driven wheels 319, a transfer sliding plate 320, two parallel arranged transfer linear guides one 321, a transfer beam 322 and a transfer linear guide two 323, the two parallel arranged transfer linear guides one 321 are arranged on the machine platform, the transfer sliding plate 320 is slidably connected with the two parallel arranged transfer linear guides one 321, the transfer driving motor 317, the transfer driving wheel 318 and the two symmetrically arranged transfer driven wheels 319 are all arranged on the transfer sliding plate 320, the transfer driving motor 317 is connected with the transfer driving wheel 318, the transfer driving belt 316 is wound around the transfer driving wheel 318 and the two symmetrically arranged transfer driven wheels 319, one end of the transfer beam 322 is connected with the transfer sliding plate 320, and the other end of the transfer beam 322 is slidably connected with the transfer linear guide two 323, the part transfer mechanism 303 and the tray transfer mechanism 304 are both arranged on the transfer beam 322, and the part transfer mechanism 303 and the tray transfer mechanism 304 are arranged on both sides of the transfer beam 322 moving direction. The transfer driving belt 316 is disposed in a linear state, and both ends of the transfer driving belt 316 are disposed on the machine. The two symmetrically arranged transfer driven wheels 319 are respectively arranged at two sides of the transfer driving wheel 318, and the transfer driving belt 316 between the transfer driving wheel 318 and the two symmetrically arranged transfer driven wheels 319 is arranged in an omega shape. The transfer driving belt 316 is tensioned between the transfer driving wheel 318 and the two symmetrically disposed transfer driven wheels 319, the transfer driving motor 317 drives the transfer driving wheel 318 to rotate, and the transfer driven wheels 319 move along the linear direction of the transfer driving belt 316 due to a certain friction force between the transfer driving wheel 318 and the transfer driving belt 316, so that the transfer beam 322 is in a state of reciprocating linear motion along the transfer driving belt 316.
The part transfer mechanism 303 shown in fig. 14 includes a part transfer horizontal linear module 324, a part transfer horizontal sliding plate 325, a part transfer vertical linear module 326, a part transfer rotating motor 327, a part transfer vertical sliding plate 328, and a part transfer jaw cylinder 329, the part transfer horizontal linear module 324 is provided on the transfer beam 322, the part transfer horizontal sliding plate 325 and the part transfer horizontal linear module 324 are connected, and the part transfer horizontal sliding plate 325 and the transfer beam 322 are slidably connected, the part transfer vertical linear module 326 is provided on the part transfer horizontal sliding plate 325, the part transfer vertical sliding plate 328 and the part transfer vertical linear module 326 are connected, the part transfer rotating motor 327 is provided on the part transfer vertical sliding plate 328, and the part transfer rotating motor 327 and the part transfer jaw cylinder 329 are connected, and the part transfer jaw cylinder 329 can grip a part. The part transfer horizontal linear module 324 and the part transfer vertical linear module 326 constitute a biaxial movement system capable of realizing movements in both horizontal and vertical directions, respectively. Therefore, the parts are randomly placed in the range of the rectangular section of the tray.
The tray transfer mechanism 304 shown in fig. 15 includes a tray transfer support frame 330, a tray transfer lifting drive cylinder 331, a tray transfer connecting frame 332, two symmetrically arranged tray transfer clamping jaw cylinders 333 and a set of tray transfer positioning blocks 334, the tray transfer support frame 330 is fixedly connected with the transfer cross beam 322, the tray transfer lifting drive cylinder 331 is arranged on the tray transfer support frame 330, a piston rod of the tray transfer lifting drive cylinder 331 is connected with the tray transfer connecting frame 332, the two symmetrically arranged tray transfer clamping jaw cylinders 333 and the set of tray transfer positioning blocks 334 are both arranged on the tray transfer connecting frame 332, and the two symmetrically arranged tray transfer clamping jaw cylinders 333 can clamp trays. The tray transfer lifting driving cylinder 331 drives the tray transfer connecting frame 332 to descend, and after the tray transfer positioning blocks 334 descend to the right position, the two symmetrically arranged tray transfer clamping jaw cylinders 333 clamp two ends of the tray in the length direction respectively to place the tray at a required position.
In this patent application, the number of the set of follower sliders 213 is 2, so the total number of the driving slider 211, the clamp fixing seat 212 and the set of follower sliders 213 is 4.
The invention relates to a working method of a full-automatic integrated machine integrating blanking, tray stacking and CCD detection, which comprises the following steps:
s1, at the beginning, a piston rod of a combined driving cylinder 209 is in an extending state, a clamp fixing seat 212 and a group of driven sliding blocks 213 are under the action of a return spring 215, a driving sliding block 211, the clamp fixing seat 212 and the group of driven sliding blocks 213 are arranged at uniform intervals, and a part to be detected is placed on a part profiling clamp 214 of the driving sliding block 211, the clamp fixing seat 212 and the group of driven sliding blocks 213 in the previous process;
s2, the rodless cylinder 218 moves left and right, the position of a group of positioning suckers 224 is adjusted firstly, so that the group of positioning suckers 224, the driving slider 211, the clamp fixing seat 212 and the group of driven sliders 213 are located on the same vertical plane, the rodless cylinder 220 moves back and forth to drive the group of positioning suckers 224 to move to the position above the clamp fixing seat 212, the vertical transfer driving cylinder 222 drives the group of positioning suckers 224 to descend, so that the group of positioning suckers 224 descend to the position above a part to be detected on the clamp fixing seat 212, the group of positioning suckers 224 adsorb the part to be detected, and the vertical transfer driving cylinder 222 resets;
s3, the left-right moving rodless cylinder 218 and the front-back moving rodless cylinder 220 work cooperatively to drive a group of positioning suckers 224 which adsorb the part to be detected to move to the part loading position of the rotating disc 227, the transfer vertical driving cylinder 222 drives the group of positioning suckers 224 to descend, so that the group of positioning suckers 224 descend above the part profiling fixture 214 at the part loading position, and the group of positioning suckers 224 release the part to be detected on the part profiling fixture 214 at the part loading position;
s4, moving the rodless cylinder 218 left and right, moving the rodless cylinder 220 back and forth, and transferring the vertical driving cylinder 222 to reset, rotating the rotating disc 227 by 90 degrees, and rotating the part profiling fixture 214 with the part to be detected to a part dedusting position;
s5, the dust remover lifting driving cylinder 244 lowers the electrostatic dust remover 205, and the electrostatic dust remover 205 covers the part to be detected at the part dust removing position to perform electrostatic dust removal;
s6, in the process of the step S5, the piston rod of the combined driving cylinder 209 is retracted, so that the driving slide block 211 pushes one group of driven slide blocks 213 to be combined to the position of the clamp fixing seat 212, the feeding linear module 207 drives the feeding horizontal slide plate 208 to move for a specified distance, the driving slide block 211 and the group of driven slide blocks 213 are located in the material taking range of the transfer mechanism 202, and the transfer mechanism 202 adsorbs a part to be detected from the driven slide blocks 213 and places the part to be detected on the part profiling clamp 214 at the part feeding position;
s7, after the electrostatic dust collection in the step 5 is finished, meanwhile, the parts are also placed in the step 6, the rotating disc 227 rotates by 90 degrees again, the parts to be detected after the electrostatic dust collection pass through the inlet 234 and enter the range covered by the light shield 232, the parts to be detected after the electrostatic dust collection come to the part detection position, and the part profiling fixture 214 with the parts to be detected placed is rotated to the part dust collection position;
s8, starting the upper lens 228, the first side lens 229 and the second side lens 230, carrying out CCD photographing detection on the part to be detected after electrostatic dust collection is finished, continuously placing the part to be detected at the part loading position, and carrying out electrostatic dust collection on the part to be detected at the part dust collection position;
s9, after the step S8 is finished, rotating the rotating disc 227 for 90 degrees again, rotating the CCD detected part to a part discharging position through the outlet 235, enabling the part to be detected after electrostatic dust collection to enter the range covered by the light shield 232 through the inlet 234, enabling the part to be detected after electrostatic dust collection to come to a part detecting position, and rotating the part profiling fixture 214 with the part to be detected to a part dust removing position;
s10, the waiting material lifting driving cylinder 240 drives the waiting material turnover plate 242 to ascend, the waiting material rotating cylinder 241 drives the waiting material turnover plate 242 to overturn, so that the waiting material taking sucker 243 overturns to the position above a part detected at the part blanking position, and the waiting material taking sucker 243 adsorbs the part detected at the part blanking position;
s11, the material waiting rotating cylinder 241 drives the material waiting turnover plate 242 to turn over, the turning direction is opposite to that in the step S10, the material waiting lifting driving cylinder 240 drives the material waiting turnover plate 242 to descend, and therefore detected parts adsorbed on the material waiting taking suction cups 243 are located between two symmetrically-arranged part positioning clamp plates 238;
s12, the two symmetrically-arranged part positioning air cylinders 237 are started simultaneously, the part positioning clamp plates 238 are driven to be tightly pressed on two side walls of the detected part adsorbed on the material taking suction disc 243 to be detected, and clamping and fixing of the part are completed;
s13, the transferring driving mechanism 305 drives the part transferring mechanism 303 to move to the position of the part between the two symmetrically arranged part positioning clamping plates 238 after detection is finished;
s14, the part transfer horizontal linear module 324 and the part transfer vertical linear module 326 cooperate to drive the part transfer clamping jaw cylinder 329 to be located above the detected part between the two symmetrically arranged part positioning clamping plates 238, and the part transfer clamping jaw cylinder 329 clamps the detected part;
s15, encoding or discarding the parts according to whether the parts are qualified or not given by the camera detection mechanism 203;
s16, when the part is a defective product, the part transfer horizontal linear module 324 and the part transfer vertical linear module 326 act cooperatively to drive the part transfer clamping jaw cylinder 329 to move to the defective product collecting groove 206, and the part transfer clamping jaw cylinder 329 releases the part to enter the defective product collecting groove 206;
s17, when the parts are qualified products, the transfer driving mechanism 305, the part transfer horizontal linear module 324 and the part transfer vertical linear module 326 cooperatively act to drive the part transfer clamping jaw cylinder 329 to move to the position above the empty tray feeding mechanism 301, and the qualified parts are placed into the uppermost tray of the empty tray feeding mechanism 301 according to the information of the parts placed in the uppermost tray in the empty tray feeding mechanism 301;
s18, continuously repeating the steps S13-S17, and placing qualified parts in the material tray on the uppermost layer of the empty material tray feeding mechanism 301 until the material tray on the uppermost layer of the empty material tray feeding mechanism 301 is full of the parts;
s19, the transfer driving mechanism 305 drives the material tray transfer mechanism 304 to move to the position of the empty material tray feeding mechanism 301, the material tray transfer lifting driving cylinder 331 descends, so that the two symmetrically arranged material tray transfer clamping jaw cylinders 333 are in contact with the uppermost material tray of the empty material tray feeding mechanism 301, and the two symmetrically arranged material tray transfer clamping jaw cylinders 333 clamp the uppermost material tray of the empty material tray feeding mechanism 301;
s20, the tray transfer driving mechanism 305 drives the tray transfer mechanism 304 to move to the position above the full tray stacking mechanism 302;
s21, the full-tray stacking mechanism 302 works: the tray lifting driving component 306 drives the tray 307 to descend by the height of one tray, the tray transferring lifting driving cylinder 331 descends, and the full-part trays clamped by the two symmetrically-arranged tray transferring clamping jaw cylinders 333 are placed on the full-tray stacking mechanism 302;
s22, the empty tray feeding mechanism 301 works: the tray lifting drive component 306 drives the tray 307 to rise by one tray height;
s23, continuously repeating the steps S1 to S22; and continuously detecting the batch parts.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims (1)

1. The utility model provides a full-automatic all-in-one that collection unloading, buttress dish and CCD detected which characterized in that: the automatic material transferring system comprises a machine table (100), a feeding mechanism (201), a transferring mechanism (202), a camera detection mechanism (203), a transferring and material waiting mechanism (204), an unqualified product collecting groove (206), at least one empty tray feeding mechanism (301), at least one full tray stacking mechanism (302), a part transferring mechanism (303), a tray transferring mechanism (304) and a transferring and driving mechanism (305);
the feeding mechanism (201) is used for feeding parts to be detected;
the transfer mechanism (202) is used for transferring the part to be detected on the feeding mechanism (201) to the camera detection mechanism (203);
the camera detection mechanism (203) is used for carrying out photographing detection on the part to be detected;
the transfer material waiting mechanism (204) is used for grabbing and placing the parts which are detected by the camera detection mechanism (203);
the part transferring mechanism (303) transfers the parts which are detected in the transferring and waiting mechanism (204) into the unqualified product collecting groove (206) or the material tray of the empty material tray feeding mechanism (301);
the empty tray feeding mechanism (301) is provided with a stack of empty trays, and the full tray stacking mechanism (302) is provided with a stack of full-part trays;
the tray transfer mechanism (304) is used for transferring the trays with full parts in the empty tray feeding mechanism (301) to the full tray stacking mechanism (302);
the transfer driving mechanism (305) provides driving force for the part transfer mechanism (303) and the tray transfer mechanism (304);
the feeding mechanism (201) comprises a feeding linear module (207), a feeding horizontal sliding plate (208), a combined driving cylinder (209), a slider supporting frame (210), a driving slider (211), a clamp fixing seat (212) and a set of driven sliders (213), wherein the feeding horizontal sliding plate (208) is connected with the sliders of the feeding linear module (207), the combined driving cylinder (209) is fixedly arranged on the feeding horizontal sliding plate (208), a piston rod of the combined driving cylinder (209) is connected with the driving slider (211), the slider supporting frame (210) is erected on the feeding horizontal sliding plate (208), the driving slider (211), the clamp fixing seat (212) and the set of driven sliders (213) are arranged in a row, the driving slider (211), the clamp fixing seat (212) and the set of driven sliders (213) are provided with part copying clamps (214), the set of driven sliders (213) is positioned between the driving slider (211) and the clamp fixing seat (212), the clamp fixing seat (212) is fixedly connected with the slider supporting frame (210), the set of driven sliders (213) is connected with the set of sliders (210), and the driving slider (213) is connected with the driven slider (211), and the driven slider (213), A return spring (215) is arranged between the driven sliding block (213) and the clamp fixing seat (212), and the moving direction of the feeding linear module (207) and the telescopic direction of the piston rod of the combined driving cylinder (209) are arranged in the same direction;
the transfer mechanism (202) comprises a transfer support frame (217), a left-right moving rodless cylinder (218), a left-right horizontal moving sliding plate (219), a front-back moving rodless cylinder (220), a front-back horizontal moving sliding plate (221), a transfer vertical driving cylinder (222), a sucker mounting plate (223) and a group of positioning suckers (224), wherein the left-right moving rodless cylinder (218) is fixedly arranged on the transfer support frame (217), one end of the left-right horizontal moving sliding plate (219) is connected with the left-right moving rodless cylinder (218), the front-back moving rodless cylinder (220) is arranged on the left-right horizontal moving sliding plate (219), the front-back horizontal moving sliding plate (221) is connected with the front-back moving rodless cylinder (220), the transfer vertical driving cylinder (222) is connected with the front-back horizontal moving sliding plate (221), the sucker mounting plate (223) is connected with a piston rod of the transfer vertical driving cylinder (222), the group of positioning suckers (224) is arranged on the sucker mounting plate (223), and the moving direction of the left-right moving rodless cylinder (218) and the moving direction of the front-back rodless cylinder (220) are perpendicular to each other;
the camera detection mechanism (203) comprises a rotating disc (227), an upper lens (228), a first side lens (229), a second side lens (230), a light source (231), a light shield (232) and a detection frame (233), wherein the rotating disc (227) and the detection frame (233) are arranged on a machine platform, the light shield (232) is arranged outside the detection frame (233) in a shielding manner, the rotating disc (227) is divided into a part loading position, a part dedusting position, a part detection position and a part unloading position in the process of rotating for 360 degrees, four part copying clamps (214) are arranged on the rotating disc (227), the four part copying clamps (214) are arranged in an annular array manner by taking the center of the rotating disc (227) as the circle center, one end of the rotating disc (227) is arranged in the shielding range covered by the light shield (232), the upper lens (228), the first side lens (229), the second side lens (230) and the light source (231) are arranged on the detection frame (233), the upper lens (228), the first side lens (229) and the second side lens (230) are positioned at the positions of the triangular lens (228), the first side lens (229) and the second side lens (232) facing the corner of the light shield (214);
the transfer material waiting mechanism (204) comprises two symmetrically arranged material waiting support seats I (236), two symmetrically arranged part positioning cylinders (237), two symmetrically arranged part positioning clamping plates (238), a material waiting support seat II (239), a material waiting lifting driving cylinder (240), a material waiting rotating cylinder (241), a material waiting turnover plate (242) and a material waiting and taking sucker (243), the two symmetrically arranged first material waiting support seats (236), the two symmetrically arranged part positioning cylinders (237) and the two symmetrically arranged part positioning clamping plates (238) are arranged in a one-to-one correspondence way, the part positioning cylinder (237) is fixedly arranged on the first material waiting support seat (236), the part positioning clamping plate (238) is connected with the part positioning cylinder (237), a part which is detected is arranged between the two symmetrically arranged part positioning clamping plates (238), the waiting lifting driving cylinder (240) is arranged on the waiting support seat II (239), and a piston rod of the material waiting lifting driving cylinder (240) is connected with the material waiting rotary cylinder (241), one end of the material waiting turnover plate (242) is connected with the material waiting rotary cylinder (241), the material waiting and taking sucker (243) is arranged on the end part of the material waiting turnover plate (242) far away from the material waiting rotary cylinder (241), the turnover plate (242) to be fed is positioned between two symmetrically arranged part positioning clamping plates (238);
the empty tray feeding mechanism (301) and the full tray stacking mechanism (302) are identical in structure, the empty tray feeding mechanism (301) and the full tray stacking mechanism (302) respectively comprise a tray lifting driving assembly (306), a tray support (307) and a tray support frame (308), the tray lifting driving assembly (306) is arranged on a machine table, the tray support frame (308) is connected with the tray lifting driving assembly (306), the tray support (307) is fixedly connected with the tray support frame (308), and a stack of empty trays and a stack of full-part trays are arranged on the tray (307);
the tray lifting driving assembly (306) comprises a lifting driving motor (309), a fixed mounting frame body (310), a lifting driving wheel (311), a lifting driving driven wheel (312), a lifting transmission chain and a lifting driving screw rod (313), the fixed mounting frame body (310) is fixedly connected with the machine platform, the lifting driving motor (309) and the lifting driving screw rod (313) are both arranged on the fixed mounting frame body (310), the lifting driving motor (309) is connected with the lifting driving wheel (311), the lifting driving wheel (311) is connected with the lifting driving driven wheel (312) through the lifting transmission chain, the lifting driving driven wheel (312) is connected with one end of the lifting driving screw rod (313), and the tray supporting frame (308) is fixedly connected with a screw rod nut of the lifting driving screw rod (313);
the transfer driving mechanism (305) comprises a transfer driving belt (316), a transfer driving motor (317), a transfer driving wheel (318), two symmetrically arranged transfer driven wheels (319), a transfer sliding plate (320), two parallel transfer linear guide rails I (321), a transfer cross beam (322) and two transfer linear guide rails II (323), wherein the two parallel transfer linear guide rails I (321) are arranged on the machine platform, the transfer sliding plate (320) is connected with the two parallel transfer linear guide rails I (321) in a sliding manner, the transfer driving motor (317), the transfer driving wheel (318) and the two symmetrically arranged transfer driven wheels (319) are arranged on the transfer sliding plate (320), the transfer driving motor (317) is connected with the transfer driving wheel (318), the transfer driving belt (316) is wound around the transfer driving wheel (318) and the two symmetrically arranged transfer driven wheels (319), one end of the transfer cross beam (322) is connected with the transfer sliding plate (320), the other end of the transfer cross beam (322) is connected with the transfer linear guide rails II (323), the transfer mechanism (303) and the charging tray (322) are arranged on two sides of the transfer driving belt (304) and are positioned on the transfer mechanism and the transfer moving mechanism (322), the two symmetrically arranged shifting driven wheels (319) are respectively arranged at two sides of the shifting driving wheel (318), and the shifting driving belts (316) between the shifting driving wheel (318) and the two symmetrically arranged shifting driven wheels (319) are arranged in an omega shape;
the part transferring mechanism (303) comprises a part transferring horizontal linear module (324), a part transferring horizontal sliding plate (325), a part transferring vertical linear module (326), a part transferring rotary motor (327), a part transferring vertical sliding plate (328) and a part transferring clamping jaw cylinder (329), wherein the part transferring horizontal linear module (324) is arranged on the transferring cross beam (322), the part transferring horizontal sliding plate (325) is connected with the part transferring horizontal linear module (324), the part transferring horizontal sliding plate (325) is connected with the transferring cross beam (322) in a sliding manner, the part transferring vertical linear module (326) is arranged on the part transferring horizontal sliding plate (325), the part transferring vertical sliding plate (328) is connected with the part transferring vertical linear module (326), the part transferring rotary motor (327) is arranged on the part transferring vertical sliding plate (328), the part transferring rotary motor (327) is connected with the part transferring clamping jaw cylinder (329), and the part transferring clamping jaw cylinder (329) can clamp a transferred part;
the tray transfer mechanism (304) comprises a tray transfer support frame (330), a tray transfer lifting driving cylinder (331), a tray transfer connecting frame (332), two symmetrically arranged tray transfer clamping jaw cylinders (333) and a set of tray transfer positioning blocks (334), the tray transfer support frame (330) is fixedly connected with a transfer cross beam (322), the tray transfer lifting driving cylinder (331) is arranged on the tray transfer support frame (330), a piston rod of the tray transfer lifting driving cylinder (331) is connected with the tray transfer connecting frame (332), the two symmetrically arranged tray transfer clamping jaw cylinders (333) and the set of tray transfer positioning blocks (334) are both arranged on the tray transfer connecting frame (332), and the two symmetrically arranged tray transfer clamping jaw cylinders (333) can clamp a tray;
the working method of the full-automatic integrated machine integrating the blanking, the stacking tray and the CCD detection comprises the following steps:
s1, at the beginning, a piston rod of a combined driving cylinder (209) is in an extending state, a clamp fixing seat (212) and a group of driven sliding blocks (213) are arranged under the action of a return spring (215) at uniform intervals, and a part to be detected is placed on a part profiling clamp (214) of the driving sliding block (211), the clamp fixing seat (212) and the group of driven sliding blocks (213) in the last process;
s2, the rodless cylinder (218) moves left and right, the position of a group of positioning suckers (224) is adjusted firstly, the group of positioning suckers (224) is enabled to be located on the same vertical plane with the driving sliding block (211), the fixture fixing seat (212) and the group of driven sliding blocks (213), the rodless cylinder (220) moves back and forth to drive the group of positioning suckers (224) to move to the position above the fixture fixing seat (212), the vertical driving cylinder (222) is transferred to drive the group of positioning suckers (224) to descend, the group of positioning suckers (224) descend to the position above a part to be detected on the fixture fixing seat (212), the group of positioning suckers (224) adsorb the part to be detected, and the vertical driving cylinder (222) is transferred to reset;
s3, the rodless cylinder (218) moves left and right and the rodless cylinder (220) moves back and forth to work cooperatively, a group of positioning suckers (224) which adsorb parts to be detected are driven to move to the part loading position of the rotating disc (227), the vertical driving cylinder (222) is transferred to drive the group of positioning suckers (224) to descend, so that the group of positioning suckers (224) descend to the position above the part profiling clamp (214) at the part loading position, and the group of positioning suckers (224) release the parts to be detected on the part profiling clamp (214) at the part loading position;
s4, moving the rodless cylinder (218) left and right, moving the rodless cylinder (220) back and forth and transferring the vertical driving cylinder (222) to reset, rotating the rotating disc (227) for 90 degrees, and rotating the part profiling fixture (214) with the part to be detected to a part dedusting position;
s5, the electrostatic dust collector (205) is lowered down by the dust collector lifting driving cylinder (244), and the electrostatic dust collector (205) covers the part to be detected at the part dust collection position for electrostatic dust collection;
s6, in the process of the step S5, the piston rod of the combined driving cylinder (209) is retracted, so that the driving slide block (211) pushes the group of driven slide blocks (213) to be combined to the position of the clamp fixing seat (212), the feeding linear module (207) drives the feeding horizontal sliding plate (208) to move for a specified distance, the driving slide block (211) and the group of driven slide blocks (213) are located in the material taking range of the transfer mechanism (202), and the transfer mechanism (202) adsorbs a part to be detected from the driven slide blocks (213) and places the part to be detected on the part profiling clamp (214) at the part feeding position;
s7, after the electrostatic dust collection in the step 5 is finished, meanwhile, the parts are also placed in the step 6, the rotating disc (227) rotates for 90 degrees again, the parts to be detected after the electrostatic dust collection pass through the inlet (234) and enter the range covered by the light shield (232), the parts to be detected after the electrostatic dust collection come to a part detection position, and the part profiling fixture (214) where the parts to be detected are placed rotates to a part dust collection position;
s8, starting an upper lens (228), a side lens I (229) and a side lens II (230), carrying out CCD photographing detection on the part to be detected after electrostatic dust collection is finished, continuously placing the part to be detected at a part loading position, and carrying out electrostatic dust collection on the part to be detected at a part dust collection position;
s9, after the step S8 is finished, rotating the rotating disc (227) for 90 degrees again, rotating the part subjected to CCD detection to a part discharging position after passing through the outlet (235), allowing the part to be detected after electrostatic dust collection to pass through the inlet (234) and enter a range covered by the light shield (232), allowing the part to be detected after electrostatic dust collection to come to a part detection position, and rotating the part profiling clamp (214) in which the part to be detected is placed to a part dust collection position;
s10, a waiting material lifting driving cylinder (240) drives a waiting material turnover plate (242) to ascend, a waiting material rotating cylinder (241) drives the waiting material turnover plate (242) to turn over, so that a waiting material taking sucker (243) turns over to the position above a part detected at a part discharging position, and the waiting material taking sucker (243) adsorbs the part detected at the part discharging position;
s11, the material waiting rotating cylinder (241) drives the material waiting turnover plate (242) to turn over, the turning direction is opposite to that in the step S10, the material waiting lifting driving cylinder (240) drives the material waiting turnover plate (242) to descend, and therefore parts which are adsorbed on the material waiting taking sucker (243) and are detected are located between two symmetrically arranged part positioning clamping plates (238);
s12, two symmetrically-arranged part positioning air cylinders (237) are started simultaneously, and a part positioning clamping plate (238) is driven to be pressed on two side walls of the detected part adsorbed on the material taking sucker (243) to be expected so as to clamp and fix the part;
s13, the part transferring mechanism (303) is driven by the transferring driving mechanism (305) to move to the position of the part which is detected between the two symmetrically arranged part positioning clamping plates (238);
s14, the part transferring horizontal linear module (324) and the part transferring vertical linear module (326) act in a coordinated mode, a part transferring clamping jaw air cylinder (329) is driven to be located above a detected part between two symmetrically arranged part positioning clamping plates (238), and the part transferring clamping jaw air cylinder (329) clamps the detected part;
s15, encoding a disc of the part or discarding the part according to whether the part is qualified or not given by the camera detection mechanism (203);
s16, when the part is a defective product, the part transferring horizontal linear module (324) and the part transferring vertical linear module (326) cooperatively act to drive the part transferring clamping jaw air cylinder (329) to move to the defective product collecting groove (206), and the part transferring clamping jaw air cylinder (329) releases the part to enter the defective product collecting groove (206);
s17, when the parts are qualified products, the transfer driving mechanism (305), the part transfer horizontal linear module (324) and the part transfer vertical linear module (326) act cooperatively to drive the part transfer clamping jaw cylinder (329) to move to the position above the empty tray feeding mechanism (301), and the qualified parts are placed in the uppermost tray of the empty tray feeding mechanism (301) according to information of the parts placed in the uppermost tray in the empty tray feeding mechanism (301);
s18, continuously repeating the steps S13-S17, and placing qualified parts in the uppermost tray of the empty tray feeding mechanism (301) until the uppermost tray of the empty tray feeding mechanism (301) is full of parts;
s19, the transfer driving mechanism (305) drives the material tray transfer mechanism (304) to move to the position of the empty material tray feeding mechanism (301), the material tray transfer lifting driving cylinder (331) descends, so that the two symmetrically arranged material tray transfer clamping jaw cylinders (333) are in contact with the uppermost material tray of the empty material tray feeding mechanism (301), and the two symmetrically arranged material tray transfer clamping jaw cylinders (333) clamp the uppermost material tray of the empty material tray feeding mechanism (301);
s20, the tray transferring and driving mechanism (304) is driven by the transferring and driving mechanism (305) to move to the position above the full tray stacking mechanism (302);
s21, the full-tray stacking mechanism (302) works: the tray lifting driving component (306) drives the tray (307) to descend by one tray height, the tray transfer lifting driving cylinder (331) descends, and the full-part trays clamped by the two symmetrically-arranged tray transfer clamping jaw cylinders (333) are placed on the full-tray stacking mechanism (302);
s22, the empty tray feeding mechanism (301) works: the tray lifting driving component (306) drives the tray (307) to rise by the height of one tray;
s23, continuously repeating the steps S1 to S22; and continuously detecting the batch parts.
CN202211076428.5A 2022-09-05 2022-09-05 Full-automatic all-in-one machine integrating blanking, stacking tray and CCD detection Active CN115140548B (en)

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